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This paper presents a stable implicit adaptation algorithm for model reference control. The constraints for stability are found using Lyapunov's second method and do not depend on perfect model following between the system and the reference model. Methods are proposed for satisfying these constraints without estimating the parameters on which the constraints depend.
A digital computer simulation study is presented for a class of discrete model reference adaptive systems designed using Liapunov's direct method. Plant output measurements are assumed to contain uniformly distributed additive noise. It is shown that the design works well even when such noise is relatively extreme. A new result is presented pertaining to improving the convergence properties of these systems. This result is obtained by modifying the dynamic characteristics of the augmented error equation.
Strapdown inertial reference and navigation system initial alignment utilizing coordinate- transformation matrix computer
A direct design method is derived for several single-input single-output model reference adaptive systems (M.R.A.S.). The approach used helps to clarify the various steps involved in a design, which utilizes the hyperstability concept. An example of a multiinput, multioutput M.R.A.S. is also discussed. Attention is given to the problem of a series compensator. It is pointed out that a series compensator which contains derivative terms must generally be introduced in the adaptation mechanism in order to assure asymptotic hyperstability. Results obtained by the simulation of a M.R.A.S. on an analog computer are also presented.
A second order approximation is derived from a linearized error characteristic equation for Lyapunov designed model-reference adaptive systems and is used to estimate the maximum error between the model and plant states, and the time to reach this peak following a plant perturbation. The results are applicable in the analysis of plants containing magnitude-dependent nonlinearities.
Proposal of an algorithmic procedure, based on mathematical programming methods, to design compensators for hyperstable discrete model-reference adaptive systems (MRAS). The objective of the compensator is to render the MRAS insensitive to initial parameter estimates within a maximized hypercube in the model parameter space.
A system to accurately weigh the fluid contents of a small-scale liquid hydrogen test tank has been experimentally verified. It is intended for use as a reference or benchmark system when testing lowgravity liquid quantity gauging concepts in the terrestrial environment. The reference gauging system has shown a repeatable measurement accuracy of better than 0.5 percent of the full tank liquid weight. With further refinement, the system accuracy can be improved to within 0.10 percent of full scale. This report describes the weighing system design, calibration, and operational results. Suggestions are given for further refinement of the system. An example is given to illustrate additional sources of uncertainty when mass measurements are converted to volume equivalents. Specifications of the companion test tank and its multi-layer insulation system are provided.
The paper summarizes a system study of the solar power satellite (SPS) concept which was conducted in the 1977-1980 time period. The system study was sponsored by the U.S. Department of Energy and the National Aeronautics and Space Administration as part of an SPS Concept Development and Evaluation Program. A reference system, developed during the study is described. The reference system was subsequently used as a basis for environmental, economic, and societal assessments. The reference system was recognized as probably not being an optimized approach. A number of alternate approaches which were studied in less depth are also described. The paper concludes with a number of observations regarding the SPS concept, and the pertinence of ongoing space technology, development, and flight programs to various aspects of the concept.
Weight and cost estimation for pressurization systems for hydrogen, oxygen, and nitrogen storage
An initial, parametric study was performed to assess the benefits and drawbacks of waste heat recovery on a gas turbine engine. The NASA N+3 technology level reference propulsion system model, an advanced, single-aisle class, gas turbine engine was the baseline cycle. The amount of thermal energy removed from the high-energy core flow and transferred to lower-energy bypass or removed from the cycle was varied. Total pressure losses were included parametrically, as well as the effects of converting some of that thermal energy to work used within the cycle. Propulsion system thrust and thrust specific fuel consumption (TSFC) were minimally affected by total pressure losses or thermal energy removal from the core stream. However, total pressure losses in the bypass stream had significant thrust and TSFC penalties. Those penalties were partially offset if core thermal energy is transferred to the bypass stream. Core thermal energy converted to work for use within the engine cycle via a bottoming cycle showed significant thrust and TSFC benefits. In addition to these results, an engine dataset is also being made available. The dataset contains engine conditions (mass flow rate, total temperature and pressure, flow velocities, etc.) at four flight conditions (maximum climb limit, cruise, rolling takeoff and sea level static) that can be used for specific information to guide heat exchanger design to best realize these benefits with further research. The data set is a .csv (comma-separated values) file and is provided as a supplement to this report (available online from www.sti.nasa.gov).
Precise ephemerides have been determined for the U.S. Navy Geosat Exact Repeat Mission (ERM) using an improved gravity-field model, PTGF-4A (Shum et al. 1989). The Geosat orbits were computed in a terrestrial reference system which is tied to the reference system defined by satellite laser ranging (SLR) to Lageos through a survey between the Tranet Doppler receiver and the SLR system located at Wettzell, FRG. The remaining Doppler tracking station coordinates were estimated simultaneously with the geopotential in the PTGF-4A solution. In this analysis, three continuous 17-day Geosat orbits, which were computed using the 46-station Tranet data and global altimeter crossover data, have a crossover residual rms of 20 cm, indicating that the Geosat radial orbit error is of the order of 20 cm. The orbits computed based on data collected by a 7-station OPNET tracking network and crossover data have the same level of accuracy.
The H2-O2 space shuttle auxiliary power unit (APU) program is a NASA-Lewis effort aimed at hardware demonstration of the technology required for potential use on the space shuttle. It has been shown that a hydrogen-oxygen power unit (APU) system is an attractive alternate to the space shuttle baseline hydrazine APU system for minimum weight. It has the capability for meeting many of the heat sink requirements for the space shuttle vehicle, thereby reducing the amount of expendable evaporants required for cooling in the baseline APU. Volume 1 of this report covers preliminary design and analysis of the current reference system and detail design of the test version of this reference system. Combustor test results are also included. Volume 2 contains the results of the analysis of an initial version of the reference system and the computer printouts of system performance. The APU consists of subsystems for propellant feed and conditioning, turbopower, and control. Propellant feed and conditioning contains all heat exchangers, valves, and the combustor. The turbopower subsystem contains a two-stage partial-admission pressure-modulated, 400-hp, 63,000-rpm turbine, a 0-to 4-g lubrication system, and a gearbox with output pads for two hydraulic pumps and an alternator (alternator not included on test unit). The electronic control functions include regulation of speed and system temperatures; and start-and-stop sequences, overspeed (rpm) and temperature limits, failsafe provisions, and automatic shutdown provisions.
A common requirement for all geodetic investigations is a well-defined coordinate system attached to the earth in some prescribed way, as well as a well-defined inertial coordinate system in which the motions of the terrestrial frame can be monitored. The paper deals with the problems encountered when establishing such coordinate systems and the transformations between them. In addition, problems related to the modeling of the deformable earth are discussed. This paper is an updated version of the earlier work, Reference Coordinate Systems for Earth Dynamics: A Preview, by the author.
Efforts in the DOE/NASA concept development and evaluation program are discussed for the solar power satellite power transmission and reception system. A technical summary is provided together with a summary of system assessment activities. System options and system definition drivers are described. Major system assessment activities were in support of the reference system definition, solid state system studies, critical technology supporting investigations, and various system and subsystem tradeoffs. These activities are described together with reference system updates and alternative concepts for each of the subsystem areas. Conclusions reached as a result of the numerous analytical and experimental evaluations are presented. Remaining issues for a possible follow-on program are identified.
A method is described for the analysis of the unsteady, incompressible potential flow associated with a helicopter rotor and it's wake in forward flight. This method is particularly useful in low advance ratio flight due to the major contribution, in the near field, of the deformed wake. The rotor geometry is prescribed and the unsteady wake geometry is computed from the local flow perturbation velocities. The wake is modeled as a full vortex lattice. The rotor geometry is arbitrary and several rotor blades can be represented. The unsteady airloads on the rotor blades are computed in the presence of the deformed rotor wake by a time-stepping technique. Solution for the load distribution on the blade surfaces is found by prescribing boundary conditions in a reference system which rotates with the blade tips. Transformation tensors are used to describe the contribution of the wake in the inertial system to the rotor in the rotating reference system. The effects of blade cyclic pitch variation are computed using a rotation tensor. The deformation of the wake is computed in the inertial frame. The wake is started impulsively from rest, allowing a natural convection of the wake with time.
An N+3 technology level engine, suitable as a propulsion system for an advanced single-aisle transport, was developed as a reference cycle for use in technology assessment and decision-making efforts. This reference engine serves three main purposes: it provides thermodynamic quantities at each major engine station, it provides overall propulsion system performance data for vehicle designers to use in their analyses, and it can be used for comparison against other proposed N+3 technology-level propulsion systems on an equal basis. This reference cycle is meant to represent the expected capability of gas turbine engines in the N+3 timeframe given reasonable extrapolations of technology improvements and the ability to take full advantage of those improvements.
A two-satellite, microwave, earth-occultation system can supplement an infrared sensor by providing an accurate altitude reference that will serve to fix, as a function of height, the derived temperature profile of the infrared sounder. The results of ground tests made in Hawaii to estimate the likely effects of scintillation and fading on an occultation system are described. It was found that the microwave signal suffered periods of intense fading; extensive computer analyses of the data were performed in which aircraft-generated refractivity profiles were subjected to ray tracing. Results of these analyses indicate that the probable cause of the observed fading was multipath, a low-altitude phenomenon usually attributed to water vapor inhomogeneities. It is maintained that multipath will therefore have minimal effect on the pressure-reference microwave occultation system, which would operate at a relatively high closest-approach altitude (about 8 km).
The Geoscience Laser Altimeter System (GLAS) is a space-based lidar being developed to monitor changes in the mass balance of the Earth's polar ice sheets (Thomas et al. 1985). GLAS is part of NASA's Earth Observing System (Schutz 1995), and is being designed to launch into a 600 km circular polar orbit in the year 2001, for continuous operation over 3 to 5 years. The orbit's 94 degree inclination has been selected to allow good coverage and profile patterns over the ice sheets of Greenland and Antarctica. The GLAS mission uses a small dedicated spacecraft provided by Ball Aerospace, which is required to have a very stable nadir and zenith pointing platform which points to within approximately 100 urad (20 arcseconds) of Nadir. Accurate knowledge of the laser beam's pointing angle (in the far field) is critical since pointing the laser beam away from nadir biases the altimetry measurements (Gardner 1992, Bufton et al. 1991). This error is a function of the distance of the laser centroid off nadir multiplied by the orbit altitude and the tangent of the slope angle of the terrain. Most of the ice sheet surface slopes are less than 1? resulting in pointing knowledge bias of only 7.6 cm with 7.3 urad accuracy, and overall single shot height accuracy of approximately 15 cm. However, over a 3 deg surface slope pointing knowledge to approximately 7.3 urad is the largest error source (23 cm) in achieving 26 cm height accuracy. The GLAS design incorporates a stellar reference system (SRS) to relate the laser beam pointing angle to the star field to an accuracy of 7.3 urad. The stellar reference system combines an attitude determination system (ADS) operating from 4 to 10 Hz coupled to a 40 Hz laser reference system (LRS) to perform this task.